发表机构
Northeastern University（东北大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对速度空间CBF碰撞锥过于保守的问题，提出SC3BF，通过状态相关容差允许随距离和速度接近障碍物，在100个动态障碍物下更频繁到达目标且输入修改更少。
AI 中文摘要
速度空间控制障碍函数所使用的碰撞锥是保守的：它拒绝所有指向障碍物的相对速度，无论速度多慢。我们提出了移位碰撞锥控制障碍函数（SC3BF），该函数在锥条件中增加了一个依赖于状态的容差，使得机器人能够以随距离及其自身速度增长的速度接近障碍物。SC3BF通过一个普通的二次规划来实施，其安全集在有限输入下是前向不变的，无需最小前进速度或安全裕度。我们证明了始终存在一个非零的容差能够保持安全性，并推导出其闭式解。在与三个速度空间基线方法在运动学自行车模型上、面对多达100个移动障碍物的对比中，SC3BF更频繁地到达目标，并且对名义输入的修改少于一半。
英文摘要
The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow. We propose the \emph{shifted collision-cone CBF} (SC3BF), which adds a state-dependent \emph{allowance} to the cone condition, so the robot may approach the obstacle at a rate that grows with distance and with its own speed. SC3BF is enforced by an ordinary quadratic program, and its safe set is forward invariant under bounded inputs without a minimum forward speed or a clearance margin. We prove that a nonzero allowance preserving safety always exists, and derive one in closed form. Against three velocity-space baselines on a kinematic bicycle among up to $100$ moving obstacles, SC3BF reaches the goal more often and modifies the nominal input less than half as much.
CommentsSubmitted to the 2027 American Control Conference (ACC)
